├── .gitignore ├── LICENSE ├── README.md ├── docker ├── Dockerfile └── requirements.txt ├── env.yml ├── img ├── Turtlebot.png ├── bullet.gif ├── demo.gif ├── demo_bullet.gif ├── f10.png ├── quicklatex1.png ├── quicklatex2.png ├── quicklatex_equation.png └── quicklatex_equation_white.png ├── mpc_pybullet_demo ├── cvxpy_mpc │ ├── __init__.py │ ├── cvxpy_mpc.py │ ├── utils.py │ └── vehicle_model.py ├── mpc_demo_nosim.py ├── mpc_demo_pybullet.py └── racecar │ ├── checker_blue.png │ ├── f10_racecar │ ├── differential │ │ ├── diff_arm.stl │ │ ├── diff_carrier.stl │ │ ├── diff_carrier_cover.stl │ │ ├── diff_leftshaft.stl │ │ ├── diff_motor_cover.stl │ │ ├── diff_pinion.stl │ │ ├── diff_rightshaft.stl │ │ ├── diff_ring.stl │ │ ├── diff_ring.urdf │ │ ├── diff_side.stl │ │ ├── diff_spider.stl │ │ ├── diff_spider_shaft.stl │ │ ├── diff_stand.stl │ │ └── modelorigin.txt │ ├── meshes │ │ ├── barca_track.mtl │ │ ├── barca_track.obj │ │ ├── barca_track.sdf │ │ ├── chassis.STL │ │ ├── chassis.dae │ │ ├── chassis_differential.STL │ │ ├── checker_blue.png │ │ ├── cone.dae │ │ ├── cone.mtl │ │ ├── cone.obj │ │ ├── hokuyo.dae │ │ ├── hokuyo.mtl │ │ ├── hokuyo.obj │ │ ├── left_front_wheel.STL │ │ ├── left_front_wheel.dae │ │ ├── left_front_wheel.mtl │ │ ├── left_front_wheel.obj │ │ ├── left_rear_wheel.STL │ │ ├── left_rear_wheel.dae │ │ ├── left_rear_wheel.mtl │ │ ├── left_rear_wheel.obj │ │ ├── left_steering_hinge.STL │ │ ├── left_steering_hinge.dae │ │ ├── parking_1.dae │ │ ├── part0.obj │ │ ├── part1.obj │ │ ├── part2.obj │ │ ├── part3.obj │ │ ├── part4.obj │ │ ├── part5.obj │ │ ├── part6.mtl │ │ ├── part6.obj │ │ ├── porto_race_track.DAE │ │ ├── right_front_wheel.STL │ │ ├── right_front_wheel.dae │ │ ├── right_front_wheel.mtl │ │ ├── right_front_wheel.obj │ │ ├── right_rear_wheel.STL │ │ ├── right_rear_wheel.dae │ │ ├── right_rear_wheel.mtl │ │ ├── right_rear_wheel.obj │ │ ├── right_steering_hinge.STL │ │ ├── right_steering_hinge.dae │ │ ├── road.png │ │ ├── walker_racecourse.dae │ │ └── wheel.jpg │ ├── racecar.urdf │ └── racecar_differential.urdf │ ├── plane.mtl │ ├── plane.obj │ ├── plane.urdf │ └── racecar.py └── notebooks ├── 1.0-lti-system-modelling.ipynb ├── 1.1-parametrized-path-curves.ipynb ├── 2.0-MPC-base.ipynb ├── 2.1-MPC-with-iterative-linearization.ipynb ├── 2.2-MPC-v2-car-reference-frame.ipynb ├── 2.3-MPC-simplified.ipynb ├── 3.0-MPC-v3-track-constrains.ipynb ├── 3.1-better-track.ipynb ├── img ├── fitted_poly.png ├── mpc_block_diagram.png └── mpc_t.png ├── models ├── ackerman_model.ipynb ├── differential_model.ipynb ├── motion_model.ipynb └── numerical_jacobian.ipynb ├── old_scipy_implementation ├── MPC_cte_cvxpy.ipynb └── MPC_tracking_cvxpy.ipynb └── tracks └── test.npy /.gitignore: -------------------------------------------------------------------------------- 1 | *.pyc 2 | *.DS_Store 3 | *.ipynb_checkpoints 4 | -------------------------------------------------------------------------------- /LICENSE: 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